
Ve.R.O.N.I.C.A (Vermiform, Remotely Operated, Novel, Inductively Charged Apparatus) - Miniature Robot
Team: Anton Larsen, Dustin Wolanski, Kevin Hunt, Daniel Gonzalez, Jack Emery, Ethan Lanphere, Acedemic Advisor: Imen Elloumi-Hannachi, PhD
Need Statement
Design Objectives
Built Device
A very basic idea for a fully enclosed robot, was to use its own skin as the
method of its movement. It would have a jointed internal structure with rollers so
the skin could easily glide around the structure while keeping the internals clear
and clean from water and any debris.
● Remote operation
● Water proof/resistant
● Dust proof/resistant
● Amphibious
● Inductive charging
1. The prototype’s main body, individual segments, and rollers/bearings were made through
3D-Printing, using PLA plastic. This material would be strong enough to create and test the
prototype and could later on be adjusted or changed to make a stronger design.
2. All roller bearings sit on either 2’’ (front and back) or 4” diameter brass rings. Initially, the
roller bearings were planned to be carbon steel deep groove ball bearing, however due to
ordering and cost constraints 3D-Printed alternatives were instead substituted.
3. Electronic components were assembled around the rectangular main body on each of the 4
open sides. These components assembled on a test body with exact dimensions as the
main body for testing purposes.
Conclusion & Future Work
● In conclusion we were able to construct the skeletal structure of the robot complete
with articulating joints, working rollers and most of the key electronic components.
● Further work will need to incorporate the outer skin of the robot, which acts as the
driving mechanism. Limited time and resources prevented us from properly testing
these items.
● Many of the 3D printed items (drive rollers, roller guides, pulleys, skin rollers, and
hinge pins) will need to be machined for the final product to ensure durability,
strength, tolerance, and smoothness.
● The incorporation of a Graphical User Interface (GUI) and camera for the robot
operator would make navigation and feature usability much more user friendly. It
would also reduce the amount of training needed, and simplify controls.
● The combined maximum draw of all six N20 motors and the Raspberry Pi (RPi)
controller was measured to be 2830 mA using an ammeter. 1.2 volt batteries can
provide 2800mAhr of energy and seven of them in series would create a potential
of 8.4 volts. This a sufficient voltage to operate the N20 motors and the controller.
● Using this data, the device will have a theoretical minimum run time of 0.78 hours
(approximately 47 minutes).
● Approximate 1 hour run time
● Low cost
● Small/Light
● Onboard sensors (Video, audio, thermal etc.)
● Able to navigate rough terrain
Final 3D CAD Model of the Robot
Motor Controller
Basic 3D CAD Model
v
● Power Distribution
● Buck Converter
● Motor Controller
● On board Raspberry Pi
● Roller Bearings
● Brass Rings (to hold bearings)
● Main Body Sections
● Individual Body Segment
● Roller Shaft Bearings
v
v
1.
2.
1.
3.
Amperage of RPi (isolated)
Amperage of RPi + 1 motor
Experiment/Analysis
Acknowledgement
Testing
● Troy Dunmire
● Bill Anderson, PhD
A small flexible robot, with the maneuverability and slenderness to
be able to fit in tight spots, and deliver small amounts of food or
medicine. Equipped with a camera, or some ability to send a
message back to the user. Waterproofing is a must, with high
manuverability on land and in water
Problem:
We would like to
address the need for a
means of remotely
accessing hard to
reach, or dangerous
locations.
Population:
Navigate into areas
where humans cannot
go, and can withstand
and navigate
semi-sharp and rough
obstacles.
Outcome:
An autonomous robot that
is waterproof, safer, more
cost efficient, and more
practical for small spaces
being searched or
explored.
Clip bore diameter
(inches)
Clip opening width
(inches)
0.14 0.12
0.142 0.13
0.147 0.135
● The only form of repeatable testing
for the project came from sizing
different components.
● For example, the table on the left
shows various sizes we tested for
our ring clips to ensure a secure fit.
The results of which are the
underlined values, as shown.